Enable a pip build

dpvo/dpvo.py

@@ -191,6 +191,7 @@ def terminate(self):
         poses = lietorch.stack(poses, dim=0)
         poses = poses.inv().data.cpu().numpy()
         tstamps = np.array(self.tlist, dtype=np.float64)
+
         if self.viewer is not None:
             self.viewer.join()
 

pyproject.toml

@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=42", "wheel", "torch>=2.5.0"]
+build-backend = "setuptools.build_meta"

requirements.txt

@@ -0,0 +1,28 @@
+plyfile
+argcomplete==2.0.0
+beautifulsoup4==4.11.1
+cmake==3.22.4
+colorama==0.4.5
+evo==1.18.1
+filelock==3.7.1
+gdown==4.5.1
+lz4==4.0.1
+natsort==8.1.0
+opencv-python==4.6.0.66
+pandas==1.4.3
+pygments==2.12.0
+pytz==2022.1
+pyyaml==6.0
+rosbags==0.9.11
+ruamel-yaml==0.17.21
+ruamel-yaml-clib==0.2.6
+seaborn==0.11.2
+soupsieve==2.3.2.post1
+yacs==0.1.8
+zstandard==0.18.0
+torch==2.2.0 #1.12.0
+torchvision #==0.13.0
+torchaudio #==0.12.0
+-f https://data.pyg.org/whl/torch-2.2.0+cu121.html
+torch-scatter
+matplotlib==3.5.1

setup.py

@@ -1,41 +1,44 @@
 import os.path as osp
 from setuptools import setup, find_packages
-from torch.utils.cpp_extension import BuildExtension, CUDAExtension
 
 ROOT = osp.dirname(osp.abspath(__file__))
 
-
-
-setup(
-    name='dpvo',
-    packages=find_packages(),
-    ext_modules=[
+def get_extensions():
+    from torch.utils.cpp_extension import CUDAExtension
+    return [
         CUDAExtension('cuda_corr',
             sources=['dpvo/altcorr/correlation.cpp', 'dpvo/altcorr/correlation_kernel.cu'],
             extra_compile_args={
-                'cxx':  ['-O3'], 
+                'cxx':  ['-O3'],
                 'nvcc': ['-O3'],
             }),
         CUDAExtension('cuda_ba',
             sources=['dpvo/fastba/ba.cpp', 'dpvo/fastba/ba_cuda.cu', 'dpvo/fastba/block_e.cu'],
             extra_compile_args={
-                'cxx':  ['-O3'], 
+                'cxx':  ['-O3'],
                 'nvcc': ['-O3'],
-            },
-            include_dirs=[
-                osp.join(ROOT, 'thirdparty/eigen-3.4.0')]
-            ),
-        CUDAExtension('lietorch_backends', 
-            include_dirs=[
-                osp.join(ROOT, 'dpvo/lietorch/include'), 
-                osp.join(ROOT, 'thirdparty/eigen-3.4.0')],
-            sources=[
-                'dpvo/lietorch/src/lietorch.cpp', 
-                'dpvo/lietorch/src/lietorch_gpu.cu',
-                'dpvo/lietorch/src/lietorch_cpu.cpp'],
-            extra_compile_args={'cxx': ['-O3'], 'nvcc': ['-O3'],}),
+            }),
+    ]
+    # return []
+
+def get_build_extension():
+    # return None
+    from torch.utils.cpp_extension import BuildExtension
+    return BuildExtension
+
+setup(
+    name='dpvo',
+    version='0.1',
+    packages=find_packages(),
+    install_requires=[
+        'torch',
+        'torchvision',
+        'torchaudio',
     ],
+    ext_modules=get_extensions(),
     cmdclass={
-        'build_ext': BuildExtension
-    })
+        'build_ext': get_build_extension()
+    },
+    )
+
 

system-requirements.txt

@@ -0,0 +1,129 @@
+absl-py=1.1.0
+aiohttp=3.8.1
+aiosignal=1.2.0
+async-timeout=4.0.2
+attrs=21.4.0
+blas=1.0
+blinker=1.4
+brotli=1.0.9
+brotlipy=0.7.0
+bzip2=1.0.8
+c-ares=1.18.1
+ca-certificates=2022.6.15
+cachetools=5.0.0
+certifi=2022.6.15
+cffi=1.15.0
+charset-normalizer=2.0.4
+click=8.1.3
+cryptography=37.0.1
+cudatoolkit=11.3.1
+cycler=0.11.0
+dbus=1.13.18
+expat=2.4.4
+ffmpeg=4.3
+fontconfig=2.13.1
+fonttools=4.25.0
+freetype=2.11.0
+frozenlist=1.3.0
+giflib=5.2.1
+glib=2.69.1
+gmp=6.2.1
+gnutls=3.6.15
+google-auth=2.9.1
+google-auth-oauthlib=0.4.6
+grpcio=1.42.0
+gst-plugins-base=1.14.0
+gstreamer=1.14.0
+icu=58.2
+idna=3.3
+importlib-metadata=4.11.4
+intel-openmp=2021.4.0
+jpeg=9e
+kiwisolver=1.4.2
+lame=3.100
+lcms2=2.12
+ld_impl_linux-64=2.38
+libffi=3.3
+libgcc-ng=11.2.0
+libgfortran-ng=7.5.0
+libgfortran4=7.5.0
+libgomp=11.2.0
+libiconv=1.16
+libidn2=2.3.2
+libpng=1.6.37
+libprotobuf=3.19.1
+libstdcxx-ng=11.2.0
+libtasn1=4.16.0
+libtiff=4.2.0
+libunistring=0.9.10
+libuuid=1.0.3
+libwebp=1.2.2
+libwebp-base=1.2.2
+libxcb=1.15
+libxml2=2.9.14
+lz4-c=1.9.3
+markdown=3.4.1
+matplotlib=3.5.1
+matplotlib-base=3.5.1
+mkl=2021.4.0
+mkl-service=2.4.0
+mkl_fft=1.3.1
+mkl_random=1.2.2
+multidict=6.0.2
+munkres=1.1.4
+ncurses=6.3
+nettle=3.7.3
+numpy=1.22.3
+numpy-base=1.22.3
+oauthlib=3.2.0
+openh264=2.1.1
+openssl=1.1.1q
+packaging=21.3
+pcre=8.45
+pillow=9.2.0
+pip=22.1.2
+protobuf=3.19.1
+pyasn1=0.4.8
+pyasn1-modules=0.2.7
+pycparser=2.21
+pyjwt=2.4.0
+pyopenssl=22.0.0
+pyparsing=3.0.4
+pyqt=5.9.2
+pysocks=1.7.1
+python=3.10.0
+python-dateutil=2.8.2
+python_abi=3.10
+pytorch=1.12.0
+pytorch-mutex=1.0
+pytorch-scatter=2.0.9
+pyu2f=0.1.5
+qt=5.9.7
+readline=8.1.2
+requests=2.28.1
+requests-oauthlib=1.3.1
+rsa=4.9
+scipy=1.7.3
+setuptools=61.2.0
+sip=4.19.13
+six=1.16.0
+sqlite=3.38.5
+tensorboard=2.9.1
+tensorboard-data-server=0.6.0
+tensorboard-plugin-wit=1.8.1
+tk=8.6.12
+torchaudio=0.12.0
+torchvision=0.13.0
+tornado=6.1
+tqdm=4.64.0
+typing-extensions=4.1.1
+typing_extensions=4.1.1
+tzdata=2022a
+urllib3=1.26.9
+werkzeug=2.1.2
+wheel=0.37.1
+xz=5.2.5
+yarl=1.7.2
+zipp=3.8.0
+zlib=1.2.12
+zstd=1.5.2